In this paper, glass fiber-reinforced polyamide-6 (PA-6) composites with up to 70 wt% fiber contents were successfully manufactured using a pultrusion process, utilizing the anionic polymerization of caprolactam (a monomer of PA-6). A novel thermoplastic reaction injection pultrusion test line was developed with a specifically designed injection chamber to achieve complete impregnation of fiber bundles and high speed pultrusion. Process parameters like temperature of injection chamber, temperature of pultrusion die, and pultrusion speed were studied and optimized. The effects of die temperature on the crystallinity, melting point, and mechanical properties of the pultruded composites were also evaluated. The pultruded composites exhibited the highest flexural strength and flexural modulus, reaching 1061 MPa and 38,384 MPa, respectively. Then, effects of fiber contents on the density, heat distortion temperature, and mechanical properties of the composites were analyzed. The scanning electron microscope analysis showed the great interfacial adhesion between fibers and matrix at 180 °C, which greatly improved the mechanical properties of the composites. The thermoplastic reaction injection pultrusion in this paper provided an alternative for the preparation of thermoplastic composites with high fiber content.